JPH0679668A - Hierarchized robot device - Google Patents

Abstract

PURPOSE:To provide possibility of freely designing and fabricating a robot with layer which the use desires, by dividing robot device into a plurality of hierarchical parts according to the function, and equipping each hierarchical part with a connector function for generating connections of hierarchical parts with one another and with other type devices. CONSTITUTION:A motor-driven actuator 100, servo driver 200, motion control part 300, operation control part 400, and operating machine 500 are each equipped with functions required in the first to fifth hierarchical part, and the hierarchical parts are made connectable by a predetermined interface function. Accordingly the robot device can by constructed by piling up only devices of the necessary hierarchy. The motor-driven actuator part 100 can be connected with any of the servo driver 200 and a user driver 10, while the servo driver 200 can be connected any of the motion control part 300 and a user motion control part 20, and the operation control part 400 is connectable with any of the operating machine 500 and a user operating machine 30, and thus flexible combination is available.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hierarchized robot apparatus, and makes it possible to easily design and manufacture various types of robots according to application work and user's request.

[0002]

Robots are widely used in industry. The application range of conventional robots is limited to some extent, and the hardware and software of the robots are organically combined for each application range so that they can exert their maximum functions according to their intended use. -Designed and manufactured. That is, a specialized robot is designed and manufactured for each application work so that the function suitable for the work can be exhibited, including the know-how according to the work to be applied.

On the other hand, the user can expand or change the applicable range within a certain range by changing the setting condition or selecting the attachment for the robot specially developed. However, if the user changes the application work and tries to apply the robot for a different purpose, a large change or modification is required. Generally, when the application work is changed, a new robot is often designed and manufactured.

[0004]

As described above, in the past, there were the following problems because a robot whose application range was limited to some extent was developed, designed and manufactured. (1) Since the function of the robot is limited to a certain range and the hardware and the software are integrally constructed, it is not possible to flexibly respond to the change of the user's function request.

(2) Since it is a completed robot including hardware and software, part of the robot cannot be replaced with the system owned by the user. That is, for example, when the user already has a control system according to the application work, the robot cannot be configured by connecting the control system to the arm part etc. excluding the control system of the robot. For this reason, it is necessary for the user to have a wide variety of dedicated robots for each application work, and the introduction cost is high, and a great amount of labor is required for maintenance and management.

(3) From the manufacturer's point of view of (2) above, since it is necessary to design and manufacture a robot for each application work, it takes a lot of time, labor and cost. Therefore, it becomes difficult to sell.

In view of the above-mentioned conventional technique, the present invention easily designs / optimizes an optimal robot according to application work and user's request.
An object is to provide a layered robot that can be manufactured.

[0008]

According to the configuration of the present invention for solving the above-mentioned problems, the robot apparatus is divided into a plurality of layer portions according to the function, and each layer portion is the minimum required in that layer. In addition to having at least the above function, the specifications of input and output signals are defined in advance, and each layer portion has a connector function for connecting each layer portion and other type devices.

[0009]

Since the robot apparatus is hierarchized, the robot of a level according to the application work or the user's request can be constructed by simply combining the necessary hierarchal parts with the existing system owned by the user. Can be combined.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings.

First, a first embodiment of the present invention will be described with reference to FIG. As shown in FIG. 1, the robot apparatus according to the embodiment is divided into five hierarchical layers. That is, the first
The electric actuator section 100 which is a layer section, the servo driver 200 which is a second layer section, the motion control section 300 which is a third layer section, and the operation control section 400 which is a fourth layer section.
And the operating device 500, which is the fifth layer portion, is layered.

The details will be described later one by one.
Each of the layer units 100 to 500 has at least the minimum function required in each layer, and each layer unit is configured by selecting an optimum one according to a user's request. In other words, a plurality of products having different functions and capabilities are prepared in each layer, and the optimum one is selected and used. For example, in the first layer, arms having three, four, five, or six axes are prepared, and the most suitable arm that meets the user's request is selected and used. By the way, the electric actuator unit 100 of FIG. 1 uses a triaxial arm 101.

The respective layer parts are electrically connected to each other by an interface function. Moreover, since the signal specifications input / output to / from each layer portion are defined in advance, layer portions arbitrarily selected in each layer portion can be freely connected to each other.

Next, members and functions equipped in each of the layer units 100 to 500 will be described.

The electric actuator section 100 is provided with at least a triaxial arm 101, a motor and a position detector provided for each axis, and a brake is provided if necessary. The electric actuator unit 100 is selected according to the load condition and the use condition of the user.

The servo driver 200 is equipped with at least a power source, a motor servo driver, and a position detection circuit. The servo driver 200 outputs a power signal to move the electric actuator unit 100, and is selected according to the arm configuration of the electric actuator unit 100.

The motion control unit 300 includes a motion control CPU
At least the position control software and the communication software with the servo driver 200 are installed. This motion control unit 300
Controls the optimum arm operation (each actuator axis angle) according to the axis configuration based on the operation command sent from the upper layer section.

The operation control unit 400 includes an operation control CPU,
It is equipped with an operation interface (I / F), mode control software, and interlock control software in case of abnormality. The operation control unit 400 communicates with the motion control unit 300 in the lower layer in accordance with the command from the operating device 500 in the upper layer and outputs the command.

The operating device 500 is for making a command to operate the arm, and one or more of the joystick 501, the handy terminal 502, the touch panel 503, the voice recognition device 504, or the like is selected according to the user's request.
Multiple selections have been made. This selection can be freely made according to the user's request such as workability and operability.

In the robot apparatus using the above-mentioned layer portions 100 to 500, signal transmission is performed and arm operation is performed as follows. That is, when the operation device 500 is operated and the operation signal S1 that is an analog signal is output, the operation control unit 400 causes the arm 101 to operate based on the operation signal S1.
The position / direction signal S2, which is a digital signal indicating the position and direction (posture) to which the tip of the head should move, is output. Exercise control unit 3
00 outputs each axis signal S3 which is a digital signal for instructing how each axis of the arm 101 should move based on the position / direction signal S2. Servo driver 200
Sends electric power S4 corresponding to each axis signal S3 to the motor of each axis of the arm 101. Therefore, the arm 101 operates,
At this time, the detected axis angle D detected by the position detector provided for each axis of the arm 101 is sent to the servo driver 200 and the motion control section 300 to form a position control feedback loop. In this way, the arm 101 of the electric actuator unit 100 operates according to the operation command of the operating device 500.

As described above, in this embodiment, since the robot apparatus is constructed by hierarchizing, the electric actuator 100 is used by the user, but the servo driver 200, the motion control section 300, and the operation in the hierarchy higher than that are used. When the control unit 400 and the operating device 500 are not used, the signal of the user driver 10 possessed by the user is converted into the above-mentioned signal specifications by the interface 11 and the signal is sent to the electric actuator 100, and the robot is operated. The device can also be configured.

The user uses the electric actuator unit 100 and the servo driver 200, but when the members 300, 400 and 500 in the higher hierarchy than those are not used, the user motion control unit 20 possessed by the user. It is also possible to configure the robot apparatus by converting the above signal into the above-mentioned signal specifications by the interface 21 and sending it to the servo driver 200.

Although the user uses the electric actuator section 100, the servo driver 200, and the motion control section 300, members 400 and 500 in a higher hierarchy than that.
When not using, the robot apparatus may be configured such that the signal of the user operation control unit 40 possessed by the user is converted to the above-mentioned signal specifications by the interface 41 and sent to the exercise control unit 300. it can.

Further, the user does not use the operating device 500, but the members 400, 300,
In the case of using the robots 200 and 100, the signals of the user operation device 30 and the user's personal computer possessed by the user are converted into the above-mentioned signal specifications by the interface 31 and sent to the servo driver 200, so that the robot apparatus It can also be configured.

After all, from the viewpoint of the manufacturer, (1) it is possible to design (select), manufacture, and sell only the electric actuator section 100, which is the first layer section, alone (2)
It is also possible to design, manufacture, and sell by combining the electric actuator unit 100 and the servo driver 200, which are the first and second layer units, and (3) the electric actuator unit 100, which is the first, second, and third layer units. , Servo driver 20
It is also possible to design, manufacture, and sell by combining 0 and the motion control unit 300, and (4) the electric actuator unit 100, which is the first, second, third, and fourth hierarchical units, the servo driver 2
00, the motion control unit 300 and the operation control unit 400 can be combined, designed, manufactured, and sold.
The electric actuator section 100, the servo driver 200, the motion control section 300, and the operation control section 400, which are the fifth layer section.
It is also possible to design, manufacture and sell the operating device 500 as a full set, and (6) design, manufacture and sell a system in which optional functions are further added to the full set. Optional functions include force control and work management.

Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, a force control system unit 600 is added to the first embodiment, and an arm 101 is provided with a force sensor 102. Force control system section 6
00 is force control software, motion control CPU, force sensor A
/ D board etc.

When a force signal (analog signal) P indicating the magnitude of the force acting on the tip of the arm 101 is output from the force sensor 102, a force control feedback loop is formed by using this signal as a feedback signal, and the force control system is formed. The unit 600 servos each axis signal S3, which is a digital signal instructing how each axis of the arm 101 should move, based on a force command (digital signal) S10 instructing optimal force control. Send to the driver 200. Therefore, the value of the electric power S4 sent from the servo driver 200 to the electric actuator unit 100 is adjusted according to the force command S10, and the force generated by the arm 101 is controlled. Thus, the force can be controlled.

Next, a third embodiment of the present invention will be described with reference to FIG. In the third embodiment, in the robot apparatus shown in the first embodiment, the work management unit 700 is used instead of the operation device 500.
It is equipped with. The work management unit 700 is configured by a personal computer, an EWS (engineering workstation), etc., and has applied work software, teaching data editing software, work execution I / F software, etc. set, and motion control according to the applied work. It manages the above know-how, operation order, operation combination, and interlock with other devices. In other words, the work management unit 700 has a human judgment function and the operating device 5
00, the operation signal S1-1 is automatically output so that the arm 101 is optimally moved according to the application work once started. It should be noted that the work management unit 700 can perform work such as changing the applied work, changing the operation order of the arms according to the work content, or combining past operations.

Here, the operation control unit 40 used in each embodiment
0, an example of a specific circuit configuration of the motion control unit 300 and the servo driver 200 will be described.

FIG. 4 shows an example of a concrete circuit configuration of the operation control section 400. In this operation control unit 400, four connectors 401, 402, 403, 404 for input are provided as standard equipment, and an input connector 405 for serial communication is provided as an option. A / D converter 406, D / I converter 407, and RS2 are connected to connectors 401 to 405, respectively.
The 32C units 408 and 409 and the LAN unit 410 are connected. The operation signal S1 output from the operating device 500 is sent to the CPU 412 via one of the connectors 401 to 404 and the bus 411. The operation signal output from the user operation device 30 (see FIG. 1) is sent to the CPU 412 via the connector 405 and the bus 411. The CPU 412 is a ROM 413, R which is a standard device.
The position / direction signal S2 is generated based on the data of the AM 414 and the data of the IC card 415 which is an optional device. The position / direction signal S2 is the transputer link adapter 4
16, the output connector 417 and the high-speed serial communication path (transputer link) 418 to the motion control unit 300. 419 is a power supply. In addition, the general-purpose CPU 412 and the transputer link adapter 4
Instead of 16, a dedicated operation control CPU 420 may be used.

FIG. 5 shows an example of a concrete circuit configuration of the motion control unit 300. The position / direction signal S2 is input to the motion control unit 300 via the input connector 301. CPU 302 for overall management, data management and target generation
And a CPU 303 that generates a current value, a CPU 304 that generates a Jacobian matrix, and a CPU 305 that generates a command.
Are annularly connected by a transputer link. Then, the CPUs 302 to 305 generate each axis signal S3 corresponding to the position / direction signal S2. C for communication control
PU306 is CPU30 by Transputer link
2, the output unit 307, the output connector 308, and the serial communication path 3 under the control of the CPU 306.
Each axis signal S3 is sent to the servo driver 200 via 09. The output unit 307 includes a serial / parallel converter, a parallel / serial converter, and a driver / buffer. The total power is supplied by the power supply 310.

FIG. 6 shows an example of a concrete circuit configuration of the servo driver 200. Each axis signal S3 is input to the servo driver 200 via the input connector 201.
The servo driver 200 has the same number of servo driver circuits 202-1, 202-2, ... As the number of arm axes. The digital signal processor 203 of the servo driver circuit 202 stores the data in the ROM 204 and determines the electric power to be sent to the arm motor and the electric current to be sent to the brake based on each axis signal S3. Motor current is D /
The brake current is output from the system of the A converter 205, the current amplifier 207, and the motor driver 207, and the brake current is output from the brake driver 208. A resolver signal indicating the position of the arm is input to the digital signal processor 203 via the system of the analog switch 209, the resolver / digital converter 210 and the counter 211. This resolver signal is also sent from the servo driver 200 to the motion control unit 300. Then, the motor current, the brake current, and the resolver signal are transmitted / received to / from the electric actuator unit 100 via the collective connector 212. When the analog switch 209 is turned on the motor shaft side, a resolver signal of a motor shaft resolver (described later) is input, and when it is turned on the output shaft side, a resolver signal of an output shaft resolver (described later) is input. . Further, the total power is supplied by the power source 213.

FIG. 7 shows an example of a concrete circuit configuration of the electric actuator section 100. AC on each axis of the arm 101
The motor 111, the brake 112, and the decelerator 113 are provided, and each axis angle changes according to the output of the decelerator 113. At this time, the motor rotation position is detected by the motor shaft resolver 114, and the rotation position (shaft angle) of the decelerator output portion is detected by the output shaft resolver 115. The collective connector 116 uses the electric connector 100 as the servo driver 2
00, through which a motor current, a brake current, and a resolver signal are transmitted and received.

[0034]

According to the present invention as specifically described in connection with the above embodiments, the robot apparatus is divided into hierarchical portions for each function. Therefore, by combining the necessary hierarchical portions,
It is possible to easily manufacture an optimum robot device according to application work and user's request. In addition, it can be easily combined with the system owned by the user, thus eliminating waste.

As described above, it is possible to easily respond to the user's request for adding a function, and it is possible to inexpensively and easily add or modify the function accompanying the change or sophistication of the applied work.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a second embodiment of the present invention.

FIG. 3 is a block diagram showing a third embodiment of the present invention.

FIG. 4 is a block diagram showing an example of an operation control unit used in the embodiment.

FIG. 5 is a block diagram showing an example of a motion control unit used in the embodiment.

FIG. 6 is a block diagram showing an example of a servo driver used in the embodiment.

FIG. 7 is a block diagram showing an electric actuator unit used in the embodiment.

[Explanation of symbols]

 100 Electric Actuator Unit 200 Servo Driver 300 Motion Control Unit 400 Operation Control Unit 500 Operation Machine 600 Force Control System Unit 700 Work Management Unit S1 Operation Signal S2 Position / Direction Signal S3 Each Axis Signal S4 Electric Power

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takefu Odo 2-1-1, Niihama, Arai-cho, Takasago, Hyogo Prefecture Takasago Research Institute, Mitsubishi Heavy Industries, Ltd. (72) Inventor Chikichi Ibe 2-chome, Niihama, Arai-cho, Takasago, Hyogo Prefecture No. 1 Mitsubishi Heavy Industries, Ltd. Takasago Research Institute (72) Inventor Tetsuji Hayashi 1-1-1 Wadasaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries Ltd. Kobe Shipyard

Claims (8)

[Claims] 1. A robot apparatus is divided into a plurality of layer portions according to functions, each layer portion has at least the minimum function required in that layer, and the input / output signal specifications are preset. The layered robot apparatus is characterized in that each layer section has a connector function for connecting each layer section and another type of apparatus. 2. The hierarchized robot according to claim 1, wherein each hierarchal unit is selected from a plurality of products having different functions and capabilities, which is suitable for the work to be performed by the robot. apparatus. 3. An operation section, an operation control section, a motion control section, a servo driver, and an electric actuator section having a multi-axis arm, wherein the operation section responds to an operation by an operator. And a connector function that can be connected to the operation control unit, and the operation control unit has a connector function that can be connected to the operation unit or a user operation unit of another model and the connector function. It has a connector function that can be connected to the motion control unit, and when a manipulation signal is input, it calculates and outputs a position / direction signal that indicates the position and direction in which the tip of the arm should advance. Part or other model user operation control part has a connector function that can be connected and a connector function that can be connected to the servo driver, and how each axis of the arm when the position / direction signal is input Each axis signal for instructing whether or not to move, and outputs the servo driver has a connector function that can be connected to the motion control unit or a user motion control unit of another model and a connector function that can be connected to the electric actuator. When each axis signal is input, power corresponding to each axis signal is sent to the electric actuator section, and the electric actuator section has a connector function that can be connected to the servo driver or a user driver of another model, A hierarchized robot apparatus, which operates when electric power is supplied to a motor provided on each axis of a multi-axis arm. 4. The hierarchical robot apparatus according to claim 3, wherein the user operation unit is a work management unit that automatically outputs operation signals sequentially by a program according to a work performed by the robot. 5. The hierarchized robot apparatus according to claim 3, comprising an operation control unit, a motion control unit, a servo driver, and an electric actuator. 6. The hierarchized robot apparatus according to claim 3, comprising a motion controller, a servo driver, and an electric actuator. 7. A hierarchized robot apparatus according to claim 3, comprising a servo driver and an electric actuator. 8. A hierarchized robot apparatus according to claim 3, wherein the hierarchized robot apparatus comprises only an electric actuator.